Optimal Robot Motion Planning of Redundant Robots in Machining and Additive Manufacturing Applications
The paper deals with the generation of optimal trajectories for industrial robots in machining and additive manufacturing applications. The proposed method uses an Ant Colony algorithm to solve a kinodynamic motion planning problem. It exploits the kinematic redundancy that is often present in these...
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| Veröffentlicht in: | Electronics (Basel) 2019-12, Vol.8 (12), p.1437 |
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| creator | Beschi, Manuel Mutti, Stefano Nicola, Giorgio Faroni, Marco Magnoni, Paolo Villagrossi, Enrico Pedrocchi, Nicola |
| description | The paper deals with the generation of optimal trajectories for industrial robots in machining and additive manufacturing applications. The proposed method uses an Ant Colony algorithm to solve a kinodynamic motion planning problem. It exploits the kinematic redundancy that is often present in these applications to optimize the execution of trajectory. At the same time, the robot kinematics and dynamics constraints are respected and robot collisions are avoided. To reduce the computational burden, the task workspace is discretized enabling the use of efficient network solver based on Ant Colony theory. The proposed method is validated in robotic milling and additive manufacturing real-world scenarios. |
| doi_str_mv | 10.3390/electronics8121437 |
| format | Article |
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The proposed method uses an Ant Colony algorithm to solve a kinodynamic motion planning problem. It exploits the kinematic redundancy that is often present in these applications to optimize the execution of trajectory. At the same time, the robot kinematics and dynamics constraints are respected and robot collisions are avoided. To reduce the computational burden, the task workspace is discretized enabling the use of efficient network solver based on Ant Colony theory. 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| source | MDPI - Multidisciplinary Digital Publishing Institute; EZB-FREE-00999 freely available EZB journals |
| subjects | Additive manufacturing Algorithms Ant colony optimization Industrial robots Kinematics Lasers Milling (machining) Motion planning Optimization Pheromones Planning Redundancy Robot dynamics Robots Trajectory optimization Velocity |
| title | Optimal Robot Motion Planning of Redundant Robots in Machining and Additive Manufacturing Applications |
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